I am on the fence but I do agree with JMDT somewhat. Is your husband embarassed of taking the dog out or he just doesn't want him coming perhaps it draws too much attention. You should sit down and talk with him, maybe you guys can work something out. I know my fiancee gets upset sometimes when I bring Stormy out with us. He will nag before we leave. Some times I put up the fight and say I want to bring her if it's for a ride or a short trip. I ALWAYS bring her if I am going to a family members house. I bring her out about 85-95% of the time and thats because I am not working right now lol. I understand you want to take your pup out but believe me it's not worth fighting over. There is a reason he doesn't want you bringing him, tell him how you feel, maybe you guys can just compromise and agree on something you both like. After all I am sure you aren't going out shopping every day so sometimes it's nice to just go with your hubby and sometimes it's nice to bring your dog with you.
The more you "fight" about the dog, your hubby may start to feel some resentment towards the dog and feel that the dog is getting inbetween you both.